Alessio Quaglino
bf74d01d93
The flex-SDF algorithm uses the same logic as mesh-SDF. Previous to this change, the flex was instead colliding with the convex hull of the mesh generated automatically with marching cubes from the SDF. PiperOrigin-RevId: 876420302 Change-Id: I3bf6552b6b8e108ba4c4209bbcf10fe5f2b2fd90
52 lines
1.5 KiB
XML
52 lines
1.5 KiB
XML
<!-- Copyright 2026 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco>
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<extension>
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<plugin plugin="mujoco.sdf.torus">
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<instance name="torus">
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<config key="radius1" value="0.55"/>
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<config key="radius2" value="0.15"/>
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</instance>
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</plugin>
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</extension>
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<asset>
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<mesh name="torus">
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<plugin instance="torus"/>
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</mesh>
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</asset>
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<include file="scene.xml"/>
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<worldbody>
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<body pos="0 0 0.3">
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<geom type="sdf" mesh="torus" rgba=".8 .17 .15 1">
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<plugin instance="torus"/>
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</geom>
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</body>
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<body name="flex" pos="0 0 .6">
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<flexcomp name="test" type="grid" count="8 8 1" spacing=".2 .2 .2" dim="2" rgba="0 .7 .7 1">
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<edge equality="true"/>
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<contact selfcollide="none" internal="false"/>
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</flexcomp>
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</body>
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<body pos="0 0 1.0">
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<freejoint/>
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<geom type="sphere" size="0.1" mass=".5" rgba="0 0 1 .2"/>
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</body>
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</worldbody>
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</mujoco>
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